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A Modular Approach of Decision-Making in the Context of Robot Navigation in Domestic Environments

14 pagesPublished: October 19, 2017

Abstract

Decision processes in Artificial Intelligence are often organized hierarchically. One example is robot navigation with a global path planner and a local executor. This paper examines whether a shift from optimizing the two typical modules in navigation towards a dynamic interaction of more, not necessarily hierarchically linked, modules leads to robust navigation behavior. We empirically evaluate different organizations of modules for navigation in a simulated household with a simulated PR2 robot.

Keyphrases: hierarchical abstraction, problem solving, robot navigation

In: Christoph Benzmüller, Christine Lisetti and Martin Theobald (editors). GCAI 2017. 3rd Global Conference on Artificial Intelligence, vol 50, pages 134--147

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